To set automatic steering torque considering self-aligning torque while steering intervention by a driver is allowed, in the case where the automatic steering driving so as to follow up the lane is conducted.
A current limiting value iL for limiting motor supply current iM supplied to an automatic steering motor for generating automatic steering torque is increased with increase in an absolute value of lateral acceleration from a current limiting value iL0 in straight driving in the increase direction of control steering with due regard to the self aligning torque, and the current limiting value iL is decreased with increase in the absolute value of the lateral acceleration from the current limiting value iL0 in the decrease direction. In order to cope with abnormal stop of the lane follow up driving control, when the current limiting value in the steering increase direction exceed a first set value, the current limiting value is decreased according to increase in the lateral acceleration, and when the lateral acceleration exceeds a second set value, the current limiting value is kept in the minimum value.
SADANO ATSUSHI
SHIMAKAGE MASAYASU
